Operator assistance system

ABSTRACT

A system having a controller is provided. The controller receives a signal indicative of an actual position and an actual orientation of a machine on a worksite, from a position detection module. The controller determines a first view of the machine on the worksite. The first view shows the actual position of the machine and a target position of the machine. A path is determined between the first and the second indicator. The controller determines a view of the machine on the worksite. The view has a first and a second indicator. The first indicator is indicative of the actual position and the actual orientation of the machine. The second indicator is indicative of the target position and a target orientation of the machine and includes a target circle. The controller displays the view based, at least in part, on the actual position of the machine relative to the target position on a display unit.

RELATED APPLICATION

This application is a Continuation in part from U.S. application Ser.No. 14/251,777 by Paul R. Friend et al., filed Apr. 14, 2014.

TECHNICAL FIELD

The present disclosure relates to an operator assistance system for amachine, and more specifically to a system for assisting an operator inmaneuvering the machine on a worksite.

BACKGROUND

Currently used rear parking assistance systems for vehicles include oneor more rear view cameras to provide a view rearwardly of the vehicle tothe operator. Additionally, proximity sensors may also be utilized inknown systems to indicate the presence of nearby obstacles and/ordistance of the vehicle from the obstacles. However, the known systemsdo not take into consideration a fixed location or target point on asite which is the final destination of the vehicle.

For example, U.S. Pat. No. 8,138,899 discloses a method for assisting abackup maneuver of a motor vehicle in which a first point of interest onthe vehicle is moved toward a second point of interest remote from thevehicle. The method displays a rear contextual view on an electronicdisplay visible to a driver of the vehicle. The rear contextual view isobtained from a rearward directed image sensor on the vehicle andincludes the first point of interest and the second point of interest.

SUMMARY OF THE DISCLOSURE

In one aspect of the present disclosure, a system for assisting anoperator to maneuver a machine on a worksite is provided. The systemincludes a position detection module configured to generate a signalindicative of an actual position and an actual orientation of themachine. The system also includes a display unit. The system furtherincludes a controller communicably coupled to the position detectionmodule and the display unit. The controller receives the signalindicative of the actual position and the actual orientation of themachine. The controller then determines a view of the machine on theworksite. The view has a first and a second indicator and a path betweenthe first and second indicator. The first indicator is indicative of theactual position and the actual orientation of the machine. The secondindicator is indicative of the target position and a target orientationof the machine and includes at least a portion of a target circle. Thecontroller then displays the view based, at least in part, on the actualposition of the machine relative to the target position.

In another aspect of the present disclosure, a method for assisting anoperator to maneuver a machine on a worksite is provided. The methodreceives a signal indicative of an actual position and an actualorientation of the machine. The method then determines view of to themachine on the worksite. The method also determines a view of themachine on the worksite. The view has a first and a second indicator anda path between the first and second indicator. The first indicator isindicative of the actual position and the actual orientation of themachine. The second indicator is indicative of the target position and atarget orientation of the machine and includes at least a portion of atarget circle. The method then displays the view based, at least inpart, on the actual position of the machine relative to the targetposition.

In another aspect of the present disclosure, a machine operating on aworksite is provided. The machine includes a position detection moduleconfigured to generate a signal indicative of an actual position and anactual orientation of the machine. The machine also includes a displayunit. The machine further includes a controller communicably coupled tothe position detection module and the display unit. The controllerreceives the signal indicative of the actual position and the actualorientation of the machine. The controller then determines a view of themachine on the worksite. The view has a first and a second indicator anda path between the first and second indicator. The first indicator isindicative of the actual position and the actual orientation of themachine. The second indicator is indicative of the target position and atarget orientation of the machine and includes at least a portion of atarget circle. The controller then displays the view based, at least inpart, on the actual position of the machine relative to the targetposition.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exemplary machine, according to one embodiment of thepresent disclosure;

FIG. 2 is an overhead view of a worksite showing the machine and atarget position and a target orientation of the machine;

FIG. 3 is a block diagram of an operator assistance system;

FIG. 4 is a block diagram of a controller, position detection module,and database associated with a loader

FIGS. 5 and 6 are exemplary displays of a first view of the operatorassistance system;

FIG. 7 is an exemplary loader shown relative to a position of a machine

FIGS. 8 to 10 are exemplary displays of a second view of the operatorassistance system;

FIG. 11 is a flowchart of a method for assisting an operator to maneuverthe machine on the worksite; and

FIGS. 12 to 14 are exemplary displays of a view of the operatorassistance system.

DETAILED DESCRIPTION

Wherever possible, the same reference numbers will be used throughoutthe drawings to refer to the same or the like parts. FIG. 1 illustratesan exemplary machine 100, according to one embodiment of the presentdisclosure. More specifically, the machine 100 is a haul truck. Itshould be noted that the machine 100 may include any other industrialmachine including, but not limited to, a large mining truck, anarticulated truck, an off-highway truck and the like. In anotherembodiment, the machine 100 may be one of various types of machineryused in a number of industries such as mining, agriculture,construction, forestry, waste management, and material handling, amongothers.

Referring to FIG. 1, the machine 100 may include a frame and/or achassis 102. A dump body 104 may be fixedly or pivotally mounted on thechassis 102. The dump body 104 may be used for transportation ofmaterial like sand, gravel, stones, soil, excavated material, and thelike from one location to another on a worksite on which the machine 100is deployed.

Hydraulic and/or pneumatic cylinders 106 may be mounted on the chassis102 and connected to the dump body 104 to enable movement in the form oftilting of the dump body 104 with respect to the chassis 102 of themachine 100. A powertrain or a drivetrain (not shown) may be provided onthe machine 100 for the production and transmission of motive power. Thepowertrain may include an engine. An enclosure 108 may be provided onthe chassis 102 of the machine 100 which may house the engine. Theengine may be an internal combustion engine, a gas turbine, a hybridengine, a non-conventional power source like batteries, or any otherpower source known in the art. A set of ground engaging members 110,like wheels, may be provided to the machine 100 for the purpose ofmobility. At least one set of ground engaging members 110 may besteerable, as is known in the art. For instance, the machine 100 mayhave a pair of front wheels configured according to the Ackerman designas is known in the art and may have an associated minimum turning radius115. The powertrain may further include a torque convertor, transmissioninclusive of gearing, drive shafts, propeller shaft, differentials andother known drive links for transmission of motive power from the engineto the ground engaging members 110. An operator cabin 112 may beprovided on the machine 100 which may house the various controls of themachine 100.

The machine 100 described herein may be used for transportation ofmaterials and/or goods from one location to another on the worksite. Anexemplary worksite 200 is shown in FIG. 2. The worksite 200 may includethe machine 100 at a first position 202 on the worksite 200. It may berequired to maneuver the machine 100 to a second position 204 on theworksite 200. The second position 204 may include a target position 206and a target orientation 208 of the machine 100. The target position 206may be located on a bucket circle 185 associated with a loader 150. Thetarget position 206 may be a fixed location on the worksite 200 whichmay typically include a loading or an unloading spot. Alternatively, thetarget position 206 may also be a parking spot, a maintenance spot, arefueling spot, etc. or any other pre-decided destination of the machine100 on the worksite 200. The target orientation 208 may be an angularorientation and/or a directional orientation indicative of a desireddirection that the machine 100 should be aligned in.

Further, the machine 100 may include an operator assistance system 300,as shown in FIG. 3, which is configured to assist the operator inbacking up the machine 100 to the target position 206 and in the targetorientation 208 from the first position 202 on the worksite 200.Referring to FIG. 3, the operator assistance system 300 may include acontroller 302 communicably coupled to a position detection module 304.The position detection module 304 may be any one or a combination of aGlobal Navigation Satellite System, a Global Positioning System, anyother Satellite Navigation System, an Inertial Navigation System, anAugmented Navigation System or any other known positioning system. Theposition detection module 304 is configured to generate a signalindicative of an actual position and an actual orientation of themachine 100 on the worksite 200. The position detection module 304 ispresent on-board the machine 100.

As shown in FIG. 3, a database 306 may be communicably coupled to thecontroller 302 via a communication network (not shown). Thecommunication network may be implemented as a wired network, a wirelessnetwork or a combination thereof. The communication network may be, butnot limited to, a wide area network (WAN), a local area network (LAN),an Ethernet, Internet, an Intranet, a cellular network, a satellitenetwork, or any other suitable network for providing communicationbetween the database 306 and the controller 302.

As shown in FIG. 7, a loader 150 is also disclosed according to thepresent disclosure. The loader 150 has a rotating upper portion 155 thatis mounted on a tracked lower portion 160. The upper portion 155 rotateson the lower portion 160 about a pivot axis 182. A boom 165 is hingedlyattached to the upper portion 155. A bucket 175 is mounted at the end ofthe boom 165. In some cases, a stick 170 may be located between the boom165 and the bucket 175. The loader 150 is configured to scoop upmaterial into the bucket 175, lift the material by raising the boom 165,pivot to a new orientation, and then dump the material from the bucket175. The bucket 175 may include a hinged door 176 to facilitate dumpingthe material. If a loader 150 is to dump the material into the back of ahauler such as machine 100, the bucket 175 must be lifted to a minimumheight in order to clear the bed of machine 100. The loader 150 furtherincludes a counterweight 190 on the upper portion 155 located oppositeof the boom 165. The counterweight 190 defines a keep-out zone 195 asthe upper portion 155 rotates on the lower portion 160 about the pivotaxis 182.

Although bucket 175 is free to move relative to the pivot axis 182,optimal dumping is achieved when the bucket 175 is a certain distancefrom the pivot axis 182. This optimal dumping distance is defined as thebucket radius 180. Bucket radius 180 defines a bucket circle 185centered on the pivot axis 182 as the upper portion 155 rotates.

As shown in FIG. 4, loader 150 includes a controller 303 communicablycoupled to a position detection module 305. The position detectionmodule 305 may be any one or a combination of a Global NavigationSatellite System, a Global Positioning System, any other SatelliteNavigation System, an Inertial Navigation System, an AugmentedNavigation System or any other known positioning system. The positiondetection module 305 is configured to generate a signal indicative of anactual position and an actual orientation of the loader 150 on theworksite 200. The position detection module 305 is present on-board theloader 150. A database 306 may be communicably coupled to the controller303 via a communication network (not shown). The communication networkmay be implemented as a wired network, a wireless network or acombination thereof. The communication network may be, but not limitedto, a wide area network (WAN), a local area network (LAN), an Ethernet,Internet, an Intranet, a cellular network, a satellite network, or anyother suitable network for providing communication between the database306 and the controller 303. Similarly, the machine 100 and the loader150 may communicate with each other directly using a peer-to-peercommunication network (not shown) as is known in the art.

The database 306 may contain data relating to the respective worksite200 on which the machine 100 is employed. The data stored in thedatabase 306 may include a site map, site terrain, and/or data relatingto other machines employed on the worksite 200. The database 306 maytherefore include the location of the loader 150, which is communicatedto the database 306 from position detection module 305 throughcontroller 303. The database 306 may also include the bucket radius 180and therefore bucket circle 185 associated with loader 150. A person ofordinary skill in the art will realize that different sized loaders 150will have different bucket radiuses 180. The database 306 can store aunique bucket radius 180 for each individual loader 150 or type ofloader 150. Further, the database 306 may also store co-ordinates orlocation data related to the target position 206 of the machine 100 onthe worksite 200. Further, the database 306 can store a unique keep-outzone 195 for each individual loader 150. Additionally, the database 306may store data related to the target orientation 208 of the machine 100on the worksite 200. The target position 206 may be located on a bucketcircle 185 and the target orientation 208 may be aligned with animaginary line tangent to the bucket circle 185. In one embodiment, thetarget position 206 and the target orientation 208 may be manually fedto the operator assistance system 300. For example, the target position206 and the target orientation 208 may be input by an operator via anoperator interface device present on the machine 100. Alternatively, anon-board system of the machine 100 may determine the target position 206and the target orientation 208 based on, for example, the position, theorientation, and physical characteristics of the machine 100. In yetanother case, the on-board system on the machine 100 may be communicablyconnected to an off-board remote command station through a communicationsystem present on the machine 100. In this case, the controller 302 mayreceive the target position and the target orientation from the remotecommand station.

One of ordinary skill in the art will appreciate that the database 306may be any conventional or non-conventional database known in the art,like an oracle-based database. Moreover, the database 306 may be capableof storing and/or modifying pre-stored data as per operational anddesign needs. In one embodiment, the database 306 may be extrinsic tothe machine 100 and located at a remote location away from the machine100. Alternatively, the database 306 may be intrinsic to the machine100.

The controller 302 is configured to receive the signals indicative ofthe actual position and the actual orientation of the machine 100 fromthe position detection module 304. In one embodiment, the controller 302may retrieve the data associated with the worksite 200 from the database306 in order to determine the actual position and the actual orientationof the machine 100 on the worksite 200, and more specifically withrespect to the target position 206 and the target orientation 208 on theworksite 200.

Based on the received signal and the known sitemap of the worksite 200,the controller 302 is configured to determine a first view 400 of themachine 100 and the bucket circle 185 on the worksite 200. The firstview 400 may also show the position of the loader 150. The first view400 shows the actual position and the actual orientation of the machine100 on the worksite 200 and the target position 206 and the targetorientation 208 of the machine 100 located on the bucket circle 185 onthe worksite 200. The first view 400 will be described in detail inconnection with FIGS. 5 and 6. Further, the controller 302 is alsoconfigured to determine a second view 600 of the machine 100 on theworksite 200. The second view 600 is a zoomed in view of the actualposition and the actual orientation of the machine 100, also showing thetarget position 206 and the target orientation 208 of the machine 100located on the bucket circle 185 on the worksite 200. The second view600 will be explained in detail in connection with FIGS. 8 to 10.

Furthermore, as shown in FIG. 3, a display unit 308 may be communicablycoupled to the controller 302. Based on the actual position of themachine 100 relative to the target position 206, the controller 302 isconfigured to display either the first view 400 or the second view 600of the machine 100 on to the worksite 200 on the display unit 308. Forexample, on reaching a predetermined distance from the target position206, the view displayed on the display unit 308 may change from thefirst view 400 to the second view 600 and vice versa. Alternatively, thecontroller 302 may be configured to display both the first view 400 andthe second view 600, simultaneously, on the display unit 308 in a splitscreen arrangement. The display unit 308 is preferably located in theoperator cabin 112 of the machine 100. The display unit 308 may be anLCD device, an LED device, a CRT monitor, a touchscreen device or anyother known display device known in the art.

Optionally, in one aspect of the current disclosure, an image capturingdevice 310 may be provided on the machine 100 and communicably coupledto the controller 302. The image capturing device 310 may include a CCDcamera, a CMOS camera, a night vision camera or any other imagecapturing and/or processing device known in the art. The image capturingdevice 310 may be configured to provide a rearward view with respect tothe machine 100. Accordingly, the controller 302 may be configured tosuperimpose the generated second view 600 of the machine 100 on theworksite 200 onto the feed received from the image capturing device 310,and display the same on the display unit 308.

Additionally, proximity sensors (not shown) like infrared sensors,ultrasonic sensors, laser sensors or the like may also be provided onthe machine 100. The proximity sensors may be configured to determinethe proximity of the machine 100 to obstacles present on the worksite200, such as, for example, personnel working on the worksite 200, othermachines, constructions like walls, pillars, etc., heaps of constructionmaterials on the worksite 200, and the like. These signals from theproximity sensors may be sent to the controller 302.

In another aspect of the current disclosure, a steering angle sensor(not shown in figures) may be installed on the machine 100 andcommunicably coupled to the controller 302. The steering angle sensormay be any one or a combination of an accelerometer, a compass, amagnetometer, a gyroscope, and the like. The steering angle sensor maybe configured to send signals to the controller 302 indicative of thesteering angle of the machine 100, dynamic orientation and/or adirection in which the machine 100 is headed. The signal generated bythe steering angle sensor, indicative of the actual orientation of themachine 100, may be sent to the controller 302. Further, the controller302 may include data received from the steering angle sensor in thefirst view 400 and/or in the second view 600 of the machine 100 on theworksite 200.

Additionally, real time information like, but not limited to, actualposition and co-ordinates, the target position 206 and co-ordinates,distance from the nearby obstacles, distance from the target position206, steering angle, angle between the actual position and the targetposition 206 of the machine 100, preferred route of heading, deviationfrom the target orientation 208 and various other information may alsobe included in the first view 400 and/or the second view 600 anddisplayed on the display unit 308.

FIGS. 5, 6, and 8-10 represent exemplary displays of the operatorassistance system 300. More specifically, FIGS. 5 and 6 represent firstview 400 of the machine 100 on the worksite 200, which also includes thetarget position 206 and the target orientation 208 of the machine 100.The target position 206 of the machine 100 is depicted as a dashed box402 in the accompanying figures. Further, the arrowhead 404 depicts thetarget orientation 208 of the machine 100 in the target position 206.The bucket circle 185 is depicted as target circle 406. Since the targetposition 206 is located on the bucket circle 185 and the targetorientation 208 is aligned tangentially with the bucket circle 185, thedashed box 402 is depicted on top of the target circle 406 and thearrowhead 404 is depicted as being aligned tangentially with targetcircle 406.

FIGS. 5 and 6 depict different first views 400 shown to the operator onthe display unit 308 as the machine 100 backs up to the target position206 and in the target orientation 208 on the worksite 200. As shown inFIGS. 5 and 6, in this view, the actual position of the machine 100 maystay centered on the display. It should be understood that as the actualposition of the machine 100 on the worksite 200 changes, the display maychange such that position of the machine 100 remains centered relativeto the display. Moreover, in one aspect of the current disclosure, thefirst view 400 may also provide information related to maneuvering themachine 100 to the target position 206 and in the target orientation208. For example, the controller 302 may provide a suggestive path 415to reach the target position 206 from the actual position of the machine100 on the worksite 200.

The path 415 may be calculated to generate a smooth, natural,continuous, and easily drivable trajectory between the first position202 and the target position 206 and the target orientation 208. Toaccomplish this, the controller 302 may construct a continuoustrajectory where the curvature k along the trajectory is continuous andthe change rate of k (sharpness) are the minimized.

The maximum value of curvature k should be smaller than the mechanicallimitation of machine 100. That is, the max(k)<1/R, where R is theminimum turning radius 115 of machine 100. Therefore, it is ensured thatthe machine 100 is able to physically follow the generated path 415. Itshould also be understood that the path 415 should be the shortest ornear shortest of all possible solutions in order to provide forefficient navigation of the machine 100.

In addition, the path 415 should be generated in real-time with limitedcomputation resources such that the operator or autonomous system arenot affected by delays in receiving the information regarding path 415.

The constructed trajectory for path 415 may contain a track transitioncurve. A track transition curve (also known as a spiral easement) is amathematically calculated curve in a section of highway, railroad track,etc, where a straight section changes to a curve. The track transitioncurve is designed to prevent sudden changes in lateral accelerationwhich may unsettle the operator or spill a load from the machine 100.

The simplest and most commonly used form of track transition curve isthat in which the curvature varies linearly with distance along thepath. The resulting shape matches a portion of an Euler spiral, which isalso commonly referred to as a “clothoid” or “Cornu spiral.” There aremany methods of calculating clothoid fitting known in the art. Examplesinclude “Fast and accurate clothoid fitting”, by Bertolazzi et al,(Bertolazzi, E. (2012). Fast and Accurate Clothoid Fitting. Retrievedfrom arXiv:1209.0910) and by Chen (Chen, Q. (2007). Studies inAutonomous Ground Vehicle Control Systems: Structure and Algorithms(Doctoral dissertation). Retrieved from etd.ohiolink.edu).

The path 415 may also be calculated to avoid certain areas or obstaclesthat may be located between the first position 202 and the targetposition 206. The areas or obstacles to be avoided can be identifiedfrom the database 306, through peer-to-peer communication from anothermachine such as the loader 150, or by perception hardware such as RADAR,LIDAR, cameras, etc. In one aspect of the current disclosure, the path415 is calculated to avoid a keep-out zone 195 associated with theloader 150. The keep-out zone 195 may be, for example, a circle definedby the counterweight 190 as the upper portion 155 rotates about thepivot axis 182. When the keep-out zone 195 is identified, a new path 415is generated that does not intersect with the keep-out zone 195.Further, the new path 415 may account for the width of the machine 100such that no part of the machine 100 will intersect with the keep-outzone 195. The width of the machine 100 can be received via the database306, via peer-to-peer communication, or via manual input by an operator.In the event of a fault with the planning portion of the controller 302responsible for calculating the path 415, a straight line may begenerated that connects the first position 202 and the target position206.

Further, based on the actual position of the machine 100 relative to thetarget position 206, the controller 302 may display the exemplary secondview 600 relative to the machine 100, shown in FIGS. 8 to 10. Forexample, as the machine 100 backs up closer to the target position 206,at a predetermined distance between the actual position of the machine100 and the target position 206, the display may change from the firstview 400 to that of the second view 600. In one aspect of the currentdisclosure, the display may change from the first view 400 to the secondview 600 on engagement of a reverse gear of the machine 100. In anotheraspect of the current disclosure, any combination of the distancebetween the actual position of the machine 100 and the target position206, difference between the actual orientation of the machine 100 andthe target orientation 208 and/or engagement of the reverse gear of themachine 100 may be utilized to change the display from the first view400 to the second view 600. Alternatively, the operator may manuallyactivate the change in views using controls provided in the operatorcabin 112.

Referring to FIGS. 8 to 10, the second view 600 includes a linearrepresentation of a rear end of the machine 100, and the target position206 and the target orientation 208 on the worksite 200. FIGS. 8 to 10depict the different second views 600 shown to the operator on thedisplay unit 308 as the machine 100 backs up to the target position 206and in the target orientation 208. As can be seen in the accompanyingfigures, the second view 600 includes a first indicator 606 and a secondindicator 608. The first indicator has a “T” shaped configurationincluding a first line 610 and a second line 612 made of continuouslines. The first line 610 may represent the rear end of the machine 100.The second line 612 may be perpendicular to and located at the midpointof the first line 610. The second line 612 may be indicative of theactual orientation of the machine 100. The first indicator 606 may be afixed representation of the machine 100, based on the actual positionand the actual orientation of the machine 100, relative to the worksite200. The location of the first indicator 606 in the second view 600 mayremain fixed on the display.

Similarly, a second indicator 608 configured in a “T” shape made ofbroken lines may be used for representing the target position 206 andthe target orientation 208 of the machine 100 on the worksite 200. Thesecond indicator 608 may include a first line 614 and a second line 616made of broken lines. The first line 614 may represent the targetposition 206 of the rear end of the machine 100. The second line 616 maybe perpendicular to and located at the midpoint of the first line 614.The second line 616 may be indicative of the target orientation 208 ofthe machine 100. The second indicator 608 further includes a targetcircle 406 that is representative of the bucket circle 185. The secondline 616 is aligned tangentially with the target circle 406, while thefirst line 614 is aligned perpendicularly with the target circle 406.The second indicator 608 may further include alignment marks 410. Thealignment marks 410 are depicted as line segments that are centered onand perpendicular to the target circle 406. The alignment marks 410 maybe spaced regularly around the circumference of target circle 406 at apredetermined interval. The predetermined interval may vary with thedistance between the machine 100 and the target position 206. The secondindicator 608 may be a dynamic representation on the display, that is,the position of the second indicator 608 may change on the display asshown in FIGS. 8 to 10 depending on the actual position of the machine100 on the worksite 200.

It should be understood that the position of the first indicator 606 isfixed whereas position of the second indicator 608 changes as seen inFIGS. 8 to 10. The second indicator 608 moves closer to the firstindicator 606 and is indicative of the dynamic position of the machine100, as the machine moves closer to the target position 206 and in thetarget orientation 208. When the machine 100 reaches the target position206 and in the target orientation 208, the first indicator 606 maycoincide with the second indicator 608, as shown in FIG. 10.

In one aspect of the current disclosure as, shown in FIGS. 12-14, thesecond indicator 608 may include one or more target circles which areconfigured to communicate the proximity of the actual position andorientation of the machine 100 to the target position 206 and targetorientation 208. A first target circle 620 is provided such that itscenter is aligned with the center of the second indicator 608. A “goodspot” is achieved if the first indicator 606 is positioned within thearea defined by the first target circle 620. A second target circle 625may also be provided. The second target circle 625 is concentric withthe first target circle 620. A “poor spot” is achieved if the firstindicator 606 is positioned within the area defined by the second targetcircle 625 but outside of the area defined by the first target circle620. A “re-spot” is needed if the first indicator 606 is positionedoutside of the area defined by the second target circle 625.

Further, FIGS. 12-13 show examples of a keep-out indicator 630 which isa display representation of keep-out zone 195. FIGS. 12-13 also showoptional boundary lines 635 that may be included with the path 415.Boundary lines 435 may assist the operator of machine 100 by giving anadditional indication of the scale of machine 100 which may help inefficiently navigating the machine 100. The distance between the path415 and boundary lines 435 is taken as half of the width of machine 100.The boundary lines 435 are scaled assuming that the terrain is levelbehind the machine 100. Information in the view is projected based onthe actual size on the image based on the known camera mounting (heightant angle).

In one aspect of the current disclosure, the dimensions of the firstindicator 606 and/or the second indicator 608 may change to indicate theproximity of the machine 100 to the target position 206. For example, asthe machine 100 backs up closer to the target position 206 and in thetarget orientation 208, the dimensions of the second indicator 608 mayincrease and finally become equal to that of the first indicator 606 asshown in FIGS. 8 to 10. In another aspect of the current disclosure, thecolors and representation of the first indicator 606 and the secondindicator 608 may be changed as per system design and requirement. Forexample, the first indicator 606 and the second indicator 608 may bedifferentiated by the use of distinct colors. In one aspect of thecurrent disclosure, the colors and representation of the first indicator606 and the second indicator 608 may change to indicate the proximity ofthe machine 100 to the target position 206.

Additionally, the second view 600 may include distance information inthe form of distance markers 640 based on the distance between theactual position of the machine 100 on the worksite 200, and the targetposition 206 of the machine 100. In other words, the distanceinformation may be a real time distance, displayed in numerical units,between the first indicator 606 and the second indicator 608. An exampleis shown in FIG. 12. Further, the second view 600 may also include angleinformation based on the angle between the actual orientation of themachine 100 on the worksite 200 and the target orientation 208. In otherwords, the angle distance may be shown as a linear and/or a numericalrepresentation indicative of the real time angular deviation between theactual orientation of the machine 100 and the target orientation 208.

In one aspect of the current disclosure, the controller 302 may beconfigured to provide assistive feedback to the operator. For example,as the machine 100 draws closer to the target position 206 and in thetarget orientation 208, an assistive feedback system may provide visualor audio feedback to the operator. The feedback may include informationand instructions like distance left to be covered to reach the targetposition 206, steering angle required to reach the target orientation208, distance from any obstacles present around the machine 100, warningsignals, etc.

It should be noted that additional modifications may be made to theoperator assistance system 300 and/or to the views 400, 600 representedon the display unit 308, other than the ones described herein, withoutdeparting from the intended scope of the disclosure.

INDUSTRIAL APPLICABILITY

Machines like haul trucks, mining trucks, tankers and the like need tobe loaded with materials in order to transport them. For loadingmaterials on the truck, the truck may be required to be positioned andoriented appropriately on a loading area like near a shovel, a conveyorunloading point, etc. Many a times, the truck requires to be backed upto the loading point. Proper positioning of the machine 100 beneath thebucket 175 of the loader 150, known as spotting, is essential to preventexcess spillage of material as it dumped. As is shown in FIG. 7, theoperator of the machine 100 has very little margin for error whenpositioning the machine 100 relative to loader 150. It is particularlyimportant that the machine 100 be spotted somewhere on the bucket circle185. The error margin for spotting position on different points on thebucket circle 185 is lower as the operator of the loader 150 can easilymake up for such spotting errors by repositioning the bucket 175 overthe machine 100 with a simple swing movement. Spotting the machine 100in a position that is not on the bucket circle 185 may require theloader 150 to relocate on the worksite 200 before dumping, which takesadditional time and decreases loading efficiency. Current displaysystems installed on-board the machine 100 do not provide the operatorwith any indication of an actual position of the machine relative to theloading point.

The present disclosure provides the operator assistance system 300 whichmay assist in backing up the machine 100 to the target position 206 andin the target orientation 208, which the operator is made aware of bythe first and second views 400, 600 shown on the display unit 308. Oneof ordinary skill in the art will appreciate that in addition to themachine 100 mentioned herein, the operator assistance system may also beemployed on any construction, mining, agricultural, forestry or anyother industrial machine and personal vehicles.

Referring to the flow chart in FIG. 11, at step 902, the controller 302receives the signal indicative of the actual position and the actualorientation of the machine 100 on worksite 200, from the positiondetection module 304. The controller 302 may then retrieve data relatingto the site map of the respective worksite 200, on which the machine 100is employed, from the database 306. Based on the actual position and theactual orientation signals of the machine 100 received from the positiondetection module 304 and the worksite data retrieved from the database306, the controller 302 may determine the exact current location of themachine 100 on the worksite 200.

At step 904, based on the determined actual position and the actualorientation of the machine 100 on the worksite 200 and the worksite dataretrieved from the database 306, the controller 302 may determine thefirst view 400 to be displayed on the display unit 308. The first view400 includes the actual position and the actual orientation of themachine 100 on the worksite 200, the target position 206, targetorientation 208, and the bucket circle 185.

At step 906, the controller 302 may determine the second view 600relative to the machine 100. The second view 600 shows the firstindicator 606 and the second indicator 608. The first indicator 606 isindicative of the rear end of the machine 100. The second indicator 608is indicative of the target position 206 and the target orientation 208of the machine 100 located on the bucket circle 185 on the worksite 200.The dimensions, colors and representation of the first indicator 606 andthe second indicator 608 may change based on the distance of the machine100 from the target position 206. In one aspect of the currentdisclosure, the controller 302 may impose the second view 600 on theimages captured by the image capturing device 310. This may provide abetter detailing in the second view 600 with the inclusion of real timeimages of the worksite 200.

At step 907, a drivable path 415 is calculated between the firstposition 202 and the target position 206 and the target orientation 208.The controller 302 may construct a continuous trajectory where thecurvature k along the trajectory is continuous and the change rate of k(sharpness) are the minimized. The path 415 gives the operator of themachine 100 an additional reference that is very useful in navigating tothe target position 206. This is important, as the machine 100 may bevery large (the size of a building). The operator may choose to alignthe first indicator 606 with the path 415 and navigate the entiredistance to the target position 206, thereby minimizing the stress ofexperimentation by the operator.

At step 908, any one of the first view 400 and the second view 600 isdisplayed on the display unit 308. The display may change from the firstview 400 to the second view 600 based on the proximity of the machine100 to the target position 206 on the worksite 200. Alternatively, thedisplay may change from the first view 400 to the second view 600 basedon difference between the actual orientation of the machine 100 and thetarget orientation 208, engagement of the reverse gear of the machine100 and/or voluntarily by the operator using additional controls on theoperator assistance system 300.

In addition, the controller 302 may also be configured to displayadditional information including actual position of the machine 100 andits co-ordinates, target position 206 and its co-ordinates, distancefrom the nearby obstacles, distance from the target position 206,steering angle, angle between the actual orientation of the machine 100and the target orientation 208, preferred route of heading and the likein the first view 400 and/or the second view 600.

While aspects of the present disclosure have been particularly shown anddescribed with reference to the aspects of the current disclosure above,it will be understood by those skilled in the art that variousadditional aspects of the current disclosure may be contemplated by themodification of the disclosed machines, systems and methods withoutdeparting from the spirit and scope of what is disclosed. Such aspectsof the current disclosure should be understood to fall within the scopeof the present disclosure as determined based upon the claims and anyequivalents thereof.

What is claimed is:
 1. A system for assisting an operator to maneuver amachine on a worksite, the system comprising: a position detectionmodule configured to generate a signal indicative of an actual positionand an actual orientation of the machine; a display unit; and acontroller communicably coupled to the position detection module and thedisplay unit, the controller configured to: receive the signal,indicative of the actual position and the actual orientation of themachine; determine a view of the machine on the worksite, the viewhaving a first and a second indicator and a path between the first andsecond indicator, wherein the first indicator is indicative of theactual position and the actual orientation of the machine and the secondindicator is indicative of the target position and a target orientationof the machine; and display the view based, at least in part, on theactual position of the machine relative to the target position.
 2. Thesystem of claim 1 further comprising an image capturing devicecommunicably coupled to the controller, the image capturing deviceconfigured to capture a view rearwardly of the machine.
 3. The system ofclaim 1 wherein the controller is further configured determine akeep-out zone, and the path is determined such that the path does notintersect the keep-out zone.
 4. The system of claim 1, wherein the viewfurther includes a pair boundary lines, each of which is spaced from thepath by one half of the width of the machine.
 5. The system of claim 4,wherein the controller is further configured determine a keep-out zone,and the path is determined such that the boundary lines do not intersectthe keep-out zone.
 6. The system of claim 1 further comprising asteering angle sensor configured to generate a signal indicative of asteering angle of the machine and wherein the controller is furtherconfigured to determine the actual orientation of the machine based onthe steering angle of the machine.
 7. The system of claim 1, wherein theview further comprises distance information based on a distance betweenthe actual position of the machine and the target position of themachine.
 8. The system of claim 1, wherein the maximum curvature of thepath does not exceed the minimum steering radius of the machine
 100. 10.The system of claim 1, wherein the view further includes a first targetcircle centered on the second indicator, such that the area defined bythe first target circle corresponds to a good spot.
 11. The system ofclaim 10, wherein the view further includes a second target concentricwith the first target circle, such that the area defined by the secondtarget circle, yet outside the area defined by the first target circle,corresponds to a poor spot.
 12. The system of claim 1, wherein the firstindicator and the second indicator include a “T” shaped configuration.13. A method for assisting an operator to maneuver a machine on aworksite, the method comprising: receiving a signal indicative of anactual position and an actual orientation of the machine; determining aview of the machine on the worksite, the second view having a first anda second indicator and a path between the first and second indicator,wherein the first indicator is indicative of the actual position and theactual orientation of the machine and the second indicator is indicativeof the target position and a target orientation of the machine; anddisplaying the view based, at least in part, on the actual position ofthe machine relative to the target position.
 14. The method of claim 13further comprising receiving a view captured rearwardly of the machineand displaying the determined view imposed on the view capturedrearwardly of the machine.
 15. The method of claim 13 further comprisingdetermining a keep-out zone, and the path is determined such that thepath does not intersect the keep-out zone.
 16. The method of claim 13,wherein the view further includes a pair boundary lines, each of whichis spaced from the path by one half of the width of the machine.
 17. Themethod of claim 16, further determining a keep-out zone, and the path isdetermined such that the boundary lines do not intersect the keep-outzone.
 18. The method of claim 13 wherein the view further includes afirst target circle centered on the second indicator, such that the areadefined by the first target circle corresponds to a good spot.
 19. Themethod of claim 18, wherein the view further includes a second targetconcentric with the first target circle, such that the area defined bythe second target circle, yet outside the area defined by the firsttarget circle, corresponds to a poor spot.
 20. A machine operating on aworksite, the machine comprising: a power source; a frame; a positiondetection module configured to generate a signal indicative of an actualposition and an actual orientation of the machine; a display unit; and acontroller communicably coupled to the position detection module and thedisplay unit, the controller configured to: receive the signalindicative of the actual position and the actual orientation of themachine; determine a view of the machine on the worksite, the viewhaving a first and a second indicator and a path between the first andsecond indicator, wherein the first indicator is indicative of theactual position and the actual orientation of the machine and the secondindicator is indicative of the target position and a target orientationof the machine; and display view based, at least in part, on the actualposition of the machine relative to the target position.